Drone encroachment avoidance monitor

ABSTRACT

Disclosed are examples of systems, apparatus, methods and computer program products for locating unmanned aerial vehicles (UAVs). A region of airspace may be scanned with two scanning apparatuses. Each scanning apparatus may include one or more directional Radio Frequency (RF) antennae. The two scanning apparatuses may have different locations. Radio frequency signals emitted by a UAV can be received at each of the two scanning apparatuses. The received radio frequency signals can be processed to determine a first location of the UAV.

PRIORITY DATA

This patent document is a continuation of and claims priority to U.S.patent application Ser. No. 16/261,212, titled “Drone EncroachmentAvoidance Monitor”, by Timothy Just, filed 29 Jan. 2019, (AttorneyDocket No. JUSTP001X1), which is a continuation in part of and claimsthe benefit of U.S. patent application Ser. No. 16/114,086, titled“Drone Encroachment Avoidance Monitor”, by Timothy Just, filed 27 Aug.2018, (Attorney Docket No. JUSTP001C1), which is a continuation of andclaims priority to U.S. patent application Ser. No. 14/723,299 (now U.S.Pat. No. 10,089,887), titled “Drone Encroachment Avoidance Monitor”, byTimothy Just, filed 27 May 2015, (Attorney Docket No. JUSTP001), whichclaims priority to U.S. Provisional Patent Application No. 62/129,672,titled “Drone Encroachment Avoidance Monitor”, by Timothy Just, filed 6Mar. 2015, (Attorney Docket No. JUSTP001P). U.S. patent application Ser.No. 16/261,212, U.S. patent application Ser. No. 16/114,086, U.S. patentapplication Ser. No. 14/723,299 (now U.S. Pat. No. 10,089,887), and U.S.Provisional Patent Application No. 62/129,672 are incorporated herein byreference in their entirety for all purposes.

TECHNICAL FIELD

This patent document generally relates to unmanned aerial vehicles(UAVs). More specifically, this patent document discloses techniques fordetecting and/or locating UAVs.

BACKGROUND

A diverse assortment of UAVs can be obtained by a wide variety of usersin the marketplace. Some of such UAVs can be piloted with little skilland can reach a broad range of locations.

SUMMARY

Methods, systems, apparatuses, and computer program products fordetecting and/or locating unmanned aerial vehicles (UAVs) are disclosedherein. Some of the disclosed techniques may be used for detecting smallUAVs, such as those weighing approximately 10 pounds or less, sometimesreferred to as micro-UAVs, micro-drones, quad-copters or multi-rotors,and referred to herein below as micro-UAVs. Detecting and locating UAVsmay enhance the safety of secure locations such as airports, militarybases, and other landmarks.

Among various embodiments disclosed herein is a method of locating UAVs.The method involves scanning a region of airspace with two scanningapparatuses. Each scanning apparatus may include one or more directionalRadio Frequency (RF) antennae. The two scanning apparatuses may havedifferent locations. Radio frequency signals emitted by a UAV can bereceived at each of the two scanning apparatuses. The received radiofrequency signals can be processed to determine a location of the UAV.

Also described is an apparatus for detecting UAVs. The apparatus mayinclude a rotatable structure configured to rotate in a horizontal planeabout a vertical axis. A first array of one or more directional antennaemay be connected with the rotatable structure. The first array may bestatically deployed along the vertical axis. A second array of one ormore directional antennae may be connected with the rotatable structure.The second array may be configured to rotate in a vertical plane about ahorizontal axis.

These and other features will be described in more detail below withreference to the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The included drawings are for illustrative purposes and serve only toprovide examples of possible structures and operations for the disclosedinventive systems, apparatus, methods and computer program products forlocating unmanned aerial vehicles (UAVs). These drawings in no way limitany changes in form and detail that may be made by one skilled in theart without departing from the spirit and scope of the disclosedimplementations.

FIG. 1A shows a flowchart of an example of a method 100 for locatingunmanned aerial vehicles (UAVs), performed in accordance with someimplementations.

FIG. 1B shows a simplified block diagram of an example of a scanningapparatus 136, in accordance with some implementations.

FIG. 2 shows a simplified diagram of an example of a configuration ofstatically deployed scanning apparatuses in the vicinity of an airportrunway, in accordance with some implementations

FIG. 3 shows a simplified diagram of an example of a scanning apparatus300, in accordance with some implementations.

FIG. 4 shows another simplified diagram of an example of a scanningapparatus 400, in accordance with some implementations.

FIG. 5 shows example of a graph of signal strength of radio signalsreceived by Ground Data Terminal (GDT) 208 of FIG. 2, in accordance withsome implementations.

FIG. 6 shows an example of a simplified diagram of a scanning apparatus600 mounted to a light pole 604 in an airport parking lot or near arunway, in accordance with some implementations.

FIG. 7 shows a block diagram of a simplified example of a system 700 forlocating UAVs, in accordance with some implementations.

FIG. 8 shows a simplified diagram of a simplified example of a system800 for locating UAVs, in accordance with some implementations.

DETAILED DESCRIPTION

This disclosure describes some techniques, methods, systems, apparatus,and computer program products that can be used for detecting “UnmannedAerial Vehicles” (UAVs). The techniques may be particularly, though notexclusively, applicable to detection of small UAVs, such as thoseweighing approximately 10 pounds or less, sometimes referred to asmicro-UAVs, micro-drones, quad-copters or multi-rotors, and referred toherein below as micro-UAVs. Such micro-UAVs can be too small to detectusing conventional Radio Detection And Ranging (RADAR) technology andcan pose significant risks, which are difficult to mitigate usingtraditional techniques. For example, an undetected micro-UAV could beused to drop an explosive, chemical, or biological weapon, in a crowdedlocation. Or, a micro-UAV flown at or near an airport, whether or notwith nefarious intentions, could be a safety concern for commercial,civil or other aviation. Such risks are underscored by a recent spate ofmicro-UAV incursions near sensitive locations such as airports,governmental residences, military bases, and monuments.

Unfortunately, conventional technology, such as static non-directionalantennae, can be unreliable when used to scan for micro-UAVs. Forexample, while a single non-directional antenna can receive downlinkradio frequency signals from a micro-UAV, it cannot resolve the locationof the micro-UAV. A configuration of four or more non-directionalantennae at different locations might be usable to resolve a bearing ofa micro-UAV by comparing differences in signal strength across each ofthe non-directional antennae. However, such a configuration cannotreliably be used to determine the elevation of a detected micro-UAV,using differences in signal strength alone.

Due to the relative ease of acquiring micro-UAVs and the difficulty ofdetecting them, a wide range of individuals can become amateur micro-UAVpilots, leading to potentially disastrous risks. By way of example,there is currently nothing to prevent a micro-UAV pilot with poorjudgment or bad intentions from remotely flying a micro-UAV into theflight path of a commercial airliner taking-off or landing at anairport.

Some of the disclosed techniques can be used to mitigate some risksposed by micro-UAVs by reliably detecting and locating such micro-UAVs.Returning to the example of the preceding paragraph, two or morestatically deployed scanning apparatuses, which are configured to detectmicro-UAVs, can be placed in strategic locations near the airportrunway. Such statically deployed scanning apparatuses are referred toherein as Ground Data Terminals (GDTs) and can be configured to sweepfor micro-UAVs and collect bearing and elevation data for each detectedmicro-UAV, as described below. In some implementations, each GDT mayinclude one or more directional antennae configured to receive 5.8Gigahertz (GHz) radio frequency signals, the standard downlink frequencyof micro-UAVs. Such directional antennae can be configured to rotate 360degrees in two orthogonal planes such that each GDT can receive signalsoriginating from any direction in the sky. The bearing and elevation ofthe micro-UAV relative to two or more GDTs can be detected andtransmitted to a processing location such as a primary processor, orcloud-based distributed computing system, which can use triangulationtechniques to locate the micro-UAV, e.g., the elevation of a UAV'sdownlink signal can be tracked and a primary processor can solve for thealtitude of the UAV. The primary processor or cloud-based distributedcomputing system can then disseminate location information for themicro-UAV to appropriate parties, for example, air traffic control,aircraft, law enforcement or security to take corrective action. Forexample, an aircraft could be redirected to avoid a collision.

FIG. 1A shows a flowchart of an example of a method 100 for locatingunmanned aerial vehicles (UAVs), performed in accordance with someimplementations. FIG. 1A is described with reference to FIGS. 1B-5. FIG.1B shows a simplified block diagram of an example of a scanningapparatus 136, in accordance with some implementations. FIG. 2 shows asimplified diagram of an example of a configuration of staticallydeployed scanning apparatuses (or GDTs) in the vicinity of an airportrunway, in accordance with some implementations. FIG. 3 shows asimplified diagram of an example of a scanning apparatus, in accordancewith some implementations. FIG. 4 shows another simplified diagram of anexample of a scanning apparatus, in accordance with someimplementations. FIG. 5 shows example of a graph of signal strength ofradio signals received by GDT 208 of FIG. 2, in accordance with someimplementations.

At 104 of FIG. 1A, a region 201 of airspace is scanned by two scanningapparatuses in the form of GDTs 208 and 212 of FIG. 2. In someimplementations, a region of airspace can be scanned by more than twoscanning apparatuses. However, one having skill in the art wouldappreciate that at least two scanning apparatuses are required toperform the triangulation techniques explained below in the context of124 of FIG. 1. A wide variety scanning apparatuses can be used to scan aregion of airspace, as described below. For example, some scanningapparatuses can be statically deployed in varying locations on theground. As described above, such statically deployed scanningapparatuses are referred to herein as GDTs. Also or alternatively,scanning apparatuses can be dynamically deployed. For example, scanningapparatuses can be mounted on a vehicle, such as a commercial aircraft,as discussed below. Additionally, in some implementations, scanningapparatuses can be portable.

The inner workings of a scanning apparatus, such as a GDT, can varyacross implementations. A simplified block diagram of an example of sucha scanning apparatus 136 is shown in FIG. 1B. In some implementations,scanning apparatus 136 may include some (or all) of a number ofcomponents, such as directional antenna (or antennae) 140, processor(s)144, network interface(s) 148, memory 152, rotation driving mechanism(s)156, diversity receiver 162, amplifier(s) 168, global positioning system(GPS) 172, time-keeping device 176, power source 180, and enclosure 184,which are each discussed in further detail below.

Some components of scanning apparatus 136 can be deployed or configuredin a variety of manners. For example, directional antennae 140 may beconfigured to receive signals from a micro-UAV. Scanning apparatus 136may be equipped with multiple high-gain directional antennae configuredto receive 2.4 Giga Hertz (GHz), and/or 5.8 GHz electromagnetic signals,which are standard uplink and downlink frequencies of micro-UAVs,respectively. Additionally, such antennae may be tunable to other radiofrequency ranges in order to detect micro-UAVs operating in differentfrequency bands. By way of example, if micro-UAVs are operated with adownlink frequency of 933 MHz, directional antennae 140 can beconfigured to receive 933 MHz signals. Antennae 140 can rotate in anumber of directions or planes to detect micro-UAVs or micro-UAVoperators in a variety of locations, as discussed below. As such, theconfiguration of antennae 140 can vary greatly, as described below inthe context of implementations shown in FIGS. 3 and 4, as well as otherimplementations.

Many UAVs may be operated by cellular devices. As such, an uplink signalused to operate such UAVs may have a frequency that is standard amongcellular devices. Therefore, Scanning apparatus 136 may be equipped withmultiple high-gain directional antennae configured to receiveelectromagnetic signals having frequencies in the standard operatingbands of cellular devices. By way of illustration, the antennae ofscanning apparatus 136 may be configured to receive signals in thefrequency ranges of 1850-1990 MHz (e.g., the cellular frequency band of1900 MHz) or 824-894 MHz (e.g., the PCS frequency band of 800 MHz).

FIG. 3 shows a simplified diagram of one such scanning apparatus 300,which is an example of a scanning apparatus 136 that includes threedirectional antennae 304-312. Scanning apparatus 300 includesdirectional antenna 304 and directional antenna 308, which areconfigured to rotate 360 degrees in a horizontal plane 316 to obtainbearing data for encroaching micro-UAVs, as described below. Directionalantenna 304 and directional antenna 308 can be configured to receivesignals within either the same or different angular ranges. Directionalantenna array 312 (which could be one or more antennae) is configured torotate 360 degrees in a vertical plane 320 in order to collect elevationdata for encroaching micro-UAVs, as described below. One having skill inthe art can appreciate that horizontal plane 316 and vertical plane 320can be substantially orthogonal—e.g. the angle between horizontal plane316 and vertical plane 320 need not be precisely 90 degrees.

The beamwidth of a directional antennae, such as directional antennae304-312 can vary across implementations. For example, region 324 is ahypothetical beamwidth of directional antenna 304. An array ofadjacently placed directional antennae may be used in place of a singledirectional antenna to increase beamwidth.

Alternatively, in some implementations, a scanning apparatus mightcontain only a single directional antenna. For instance, scanningapparatus 400 of FIG. 4 is an example of a scanning apparatus 136 thatincludes a single directional antenna. Scanning apparatus 400 includesdirectional antenna 404, which is configured to rotate from 0 to 90degrees in a vertical plane 408 and 360 degrees in a horizontal plane412. Since, directional antenna 404 can rotate such that it can scan theentire sky for micro-UAVs, directional antenna 404 can obtain bothbearing and elevation data for encroaching micro-UAVs, as describedbelow. Since scanning apparatus 400 is compact and contains only onedirectional antenna, it can be particularly useful in severalimplementations described below, such as an aircraft-mounted scanningapparatus, which is configured to locate micro-UAV operators.

In other implementations, a scanning apparatus may include an array ofdirectional antennae, which may be statically deployed along asubstantially vertical axis and rotatable up to 360° along asubstantially orthogonal horizontal axis to scan for micro-UAV targets.Such an array of antennae can resolve an elevation of a micro-UAV at agiven angle of rotation by comparing signal strength differencesmeasured by each antenna. In other words, each statically deployedantenna can detect signals originating in different angular ranges. Byway of example, a scanning apparatus might have a first, second, andthird antenna statically deployed relative to a vertical axis at 15, 45,and 75 degree angles respectively. The first antenna might detectsignals originating at an elevation between 0 and 29 degrees, the secondantenna might detect signals originating at an elevation between 30 and59 degrees, and the third antenna might detect signals originating at anelevation between 60 and 90 degrees.

As mentioned above, additional components of a scanning apparatus, suchas scanning apparatus 136 of FIG. 1B, can vary greatly acrossimplementations. For example, scanning apparatus 136 may include one ormore rotation driving mechanisms 156, such as an electric motor, todrive the rotation of directional antennae and/or platforms to whichsuch antennae are attached. Rotation driving mechanism 156 can beconnected with a system of gears such that rotation driving mechanism156 can cause the directional antennae 140 and/or platforms to whichdirectional antennae 140 are attached to rotate.

Scanning apparatus 136 may also include a diversity receiver 162 suchthat scanning apparatus 136 can receive signals multiple directionalantennae 140 and diversity receiver 162 can be used to measure thesignal strength of such signals. In some implementations, an amplifier(or amplifiers) 168 can be used to amplify signals received bydirectional antennae 140. In some implementations, scanning apparatus136 may include a magnetometer 163, which can provide a reference point,based on the earth's magnetic field, for collecting bearing data, whichis discussed in further detail below.

Also or alternatively, scanning apparatus 136 may include a GPS 172capable of providing data indicating the location of scanning apparatus136. Scanning apparatus 136 may also include a time-keeping device 176such as a Hobbs Meter, or a clock, or other device capable of measuringtime.

In some implementations, scanning apparatus 136 may include one or morenetwork interfaces 144 or a wireless or wired communication module toenable communication with other scanning apparatuses or with a primaryprocessing module, as described below.

In some implementations, scanning apparatus 136 may also include memory152 such as one or more storage media. Such storage may include eitheror both volatile or nonvolatile storage media and can providenon-transitory storage for computer readable instructions, datastructures, program modules and other data for the operation of thescanning apparatus. Also or alternatively, scanning apparatus 136 mayinclude one or more single or multi-core processors 144 configured toexecute stored instructions.

In some implementations, scanning apparatus 136 may include an internalpower supply 180 such as a battery or attached solar panels.Alternatively, scanning apparatus 136 may be connected with an externalpower supply, such as a light pole as discussed below in the context ofFIG. 6.

In order to increase the durability of scanning apparatus 136,directional antennae 140 and other components of scanning apparatus 136may be enclosed in enclosure 184. Enclosure 184 may be composed of aradio frequency transparent, corrosion-resistant, lightning-protected,and wind-resistant material such as fiberglass.

Scanning apparatuses can be deployed in a range of manners. For example,FIG. 2 shows a configuration of statically deployed scanningapparatuses, or more specifically GDTs 208-232, placed near an airportrunway 202. Each GDT 208-232 of FIG. 2 can take the form of scanningapparatus 300 of FIG. 3, scanning apparatus 400 of FIG. 4, another typeof scanning apparatus, or a combination of such scanning apparatuses.Such a configuration of GDTs can be used to scan portions of the skynear an airport for micro-UAVs, helping to avert collisions and nearmisses with airliners, as described above. For instance, in the exampleof FIG. 2, GDT 208 is located on or near an Air Traffic Control (ATC)tower, GDTs 212 and 216 are located along a typical approach corridor,GDTs 220 and 224 are located along a typical departure corridor and GDTs228 and 232 are located on opposing ends of runway 202.

Returning to FIG. 1A, at 108, radio signals 204, of FIG. 2, aretransmitted by micro-UAV 200 and received at GDTs 208 and 212. GDT 208and GDT 212 have different locations, as discussed above. Similarly, asdiscussed above, GDTs 208 and 212 may be any combination of scanningapparatuses discussed above, or any other type of scanning apparatusthat may include one or more directional antennae, which are configuredto receive signals from micro-UAVs or micro-UAV operators.

At 112 of FIG. 1A, radio signals 204 are processed to determine a firstlocation 252 of micro-UAV 200. Such processing can vary acrossimplementations and determining the first location 252 of micro-UAV 200can be accomplished in a number of manners. For instance, 116-124 ofFIG. 1A offer an example illustrating several ways in which, radiosignals 204 can be processed to determine a first location 252 ofmicro-UAV 200.

In some implementations, at 116, a signal strength of the radio signals204 is determined by GDTs 208 and 212. For example, one or moredirectional antennae of GDTs 208 and 212 can be configured to receive5.8 GHz radio signals, as described above. As such, radio signals 204,which have a 5.8 GHz frequency, can be received by such directionalantennae. In some implementations, such antennae can be connected withan amplifier. Radio signals 204 can be transmitted from the antenna toan amplifier and on to a receiver, such as a diversity receiver, atwhich the signal strength of radio signals 204 can be measured.Alternatively, radio signals 204 can also be transmitted directly froman antenna to a receiver, without an intervening amplifier. Graph 500 ofFIG. 5 shows an example of signal strength measurements of a directionalantenna or array of directional antennae of GDT 208 throughout a singlepolar (or vertical) rotation.

In some implementations, at 120 of FIG. 1A, data indicating an angularrelationship between locations of GDTs 208 and 212 and a detectedmicro-UAV 200 of FIG. 2 is generated. For example, a processor of GDTs208 and 212 can process signal strength measurements determined at 112of FIG. 1A to determine a location of a peak 5.8 GHz signal strength inthe polar and azimuthal planes. In other words, GDT 208 can determine anelevation of a peak 5.8 GHz signal strength at θ₁ 236, as shown in FIG.5. Along the same lines, GDT 208 can determine a bearing of a peak 5.8GHz signal strength in the azimuthal plane at ϕ₁ 240. Since the standarduplink frequency of a micro-UAV is 5.8 GHz, GDT 208 can infer thepresence of micro-UAV 200 at an elevation of θ₁ 236 and a bearing of ϕ₁240.

Alternatively, GDT 208 may not include a processor, but rather, GDT 208might merely measure 5.8 GHz signal strength in the polar and azimuthalplanes, and transmit such signal strength measurements to a primaryprocessor or cloud-based distributed computing system, as describedbelow. The primary processor or cloud-based distributed computing systemcan process the signal strength measurements, as described in thepreceding paragraph, and determine the presence of micro-UAV 200 at anelevation and bearing of θ₁ 236 and ϕ₁ 240 respectively, with respect toGDT 208.

Using similar techniques, it can be determined by GDT 212, or by aprimary processor or cloud-based distributed computing system, thatmicro-UAV 200 is at an elevation and bearing of θ₂ 244 and ϕ₂ 248respectively, with respect to GDT 212.

In some implementations, a rate of rotation (also referred to herein asa slew rate) of a directional antenna (or antennae) of a scanningapparatus can be configured to vary throughout a rotation to increaseaccuracy in determining an angular relationship between the scanningapparatus and a micro-UAV. For instance, a directional antenna (orantennae) in a scanning apparatus can be configured to rotate slowly ina given rotation when the antenna (or antennae) is within a designatedangular distance (e.g. within 10 degrees) of a detected micro-UAV. Theantenna (or antennae) can rotate more quickly when the antenna (orantennae) is greater than the designated angular distance from themicro-UAV. By way of example, in a first cycle, GDT 208, of FIG. 2,detects micro-UAV 200 at an elevation of θ₁ 236 and a bearing of ϕ₁ 240,which can be recorded in a storage medium of GDT 208, as describedabove. Since micro-UAV 200 is unlikely to have moved much in the time ofa given cycle, in the following cycle the recorded values of θ₁ 236 andϕ₁ 240 in the storage medium of GDT 208 can trigger a processor of GDT208 to cause GDT 208 to slow down its slew rate, sweeping at 0.5 Hzwithin 10 degrees of θ₁ 236 or ϕ₁ 240—the most likely location ofmicro-UAV 200. Since micro-UAV 200 is less likely to be more than 10degrees away from θ₁ 236 or ϕ₁ 240, a processor of GDT 208 can cause GDT208 to speed up its slew rate to 2 Hz when in a range of more than 10degrees away from θ₁ 236 or ϕ₁ 240.

Returning to FIG. 1A, in some implementations, at 124, the angularrelationship data of 120 are processed to determine the first location252 of micro-UAV 200 of FIG. 2. For example, a primary processor orcloud-based distributed computing system can be configured to receiveelevation and bearing data from GDTs 208 and 212 and process such datato determine a location of micro-UAV 200. By way of illustration, aprimary processor can triangulate the position micro-UAV 200 based onthe signal spikes discussed in the preceding paragraph. In other words,the primary processor can use standard geometry to determine, based onθ₁ 236, ϕ₁ 240, θ₂ 244, ϕ₂ 248, and the locations of GDT 208 and GDT212, that there is a source emitting a 5.8 GHz signal originating atfirst location 252 where line 256 and line 260 meet. Since the downlinkfrequency of a standard micro-UAV is 5.8 GHz, the primary processor caninfer that there is a micro-UAV at point 252.

In some implementations, a primary processor can be included as a partof one or more scanning apparatuses, such as a GDT. Also oralternatively, a primary processor can be a separate computing device,which is configured to communicate with scanning apparatuses, such asGDTs.

The manner in which GDTs communicate with each other and with a primaryprocessor can vary across implementations. For example, a secure two-waycommunication channel such as a wired fiber-optic connection can beutilized. Also or alternatively, GDTs and primary processors cancommunicate through a variety of wireless channels such as via Bluetoothor via a WiFi local area network. Also or alternatively, communicationsexchanged between GDTs and the primary processor can be encrypted, forexample using standard public-key cryptography or other techniques, forenhanced security.

In some implementations, at 128 of FIG. 1A, the first location 252 ofmicro-UAV 200 of FIG. 2 is disseminated to a variety of sites. Forinstance, the primary processor can communicate the coordinates of themicro-UAV to an Air Traffic Controller (ATC) such that the ATC cancontact pilots of any approaching airliners as well as appropriateauthorities. Also or alternatively, the coordinates of the micro-UAVcould be communicated directly to an approaching airliner via anappropriate communications protocol, such as an existing TrafficCollision Avoidance System (TCAS) or Automated DependentSurveillance-Broadcast (ADS-B.)

In some implementations, at 132 of FIG. 1A, a velocity of micro-UAV 200of FIG. 2 is determined. For example, a primary processor can determinevelocity data for an encroaching micro-UAV by averaging the change incoordinates of an encroaching micro-UAV over the time of two or morecycles of rotation of GDTs collecting bearing and elevation data for theencroaching micro-UAV. By way of example, a second location of micro-UAV200 can be determined using the techniques described above in thecontext of 104-112 of FIG. 1A. The first location 252 and the secondlocation of micro-UAV 200 can then be used to determine the velocity ofmicro-UAV 200. For instance, a primary processor can log a first time atwhich micro-UAV 200 was detected at the first location 252 and a secondtime at which micro-UAV 200 was detected at the second location. Theprimary processor can divide the distance between the first location 252and the second location by the difference between the first and secondtimes to get a magnitude of the velocity of micro-UAV 200. Similarly,the primary processor can determine the directional component of thevelocity of micro-UAV 200 by determining the direction of thedisplacement of micro-UAV 200 between the first location 252 and thesecond location.

In some implementations, two or more UAVs can be tracked using thedisclosed techniques. For instance, some of the disclosed techniques canbe used for enhanced scanning of portions of the sky near a sensitivearea for detection of multiple micro-UAVs at any given time. RedundantGDTs can be placed near a sensitive area to sweep for and followmultiple micro-UAVs. In one example, returning to FIG. 2, GDTs 208 and212 might be tracking micro-UAV 200 and GDTs 232 and 216 might betracking a further micro-UAV.

Alternatively, two scanning apparatuses can be used to track more thanone micro-UAV. By way of example, GDTs 208 and 212 can track bothmicro-UAV 200 and a further micro-UAV. In this case, GDTs 208 and 212might have redundant antennae if enhanced tracking capabilities aredesired.

In some implementations, two or more scanning apparatuses might beplaced in the same or similar location, for increased ability to tracktwo or more UAVs. For example, GDT 208 may include more than onescanning apparatus, such as scanning apparatus 300 of FIG. 3, scanningapparatus 400 of FIG. 4, or another scanning apparatus or combination ofscanning apparatuses. As such, if GDT 208 includes more than onescanning apparatus, each scanning apparatus of GDT 208 can be used toexclusively track a different micro-UAV at a given time by slowing downits slew rate in the angular vicinity of the tracked micro-UAV, asdescribed above.

In some implementations, GDTs, or other scanning apparatuses, can beplaced in strategic locations to take advantage of existing structures.For example, FIG. 6 shows an example of a simplified diagram of ascanning apparatus 600 mounted to a light pole 604 in an airport parkinglot or near a runway, in accordance with some implementations. Forinstance, GDT 212 of FIG. 2 might include scanning apparatus 600 of FIG.6. Placing a scanning apparatus in high location, such as on top oflight pole 604, relative to the ground can prevent tampering and aid inavoiding obstructions. Additionally, this placement could allow scanningapparatus 600 to use an already available power source of light pole604.

One having skill in the art would appreciate that the disclosedtechniques can be applied in a diverse array of contexts, a few of whichare described below. More specifically, a variety of scanningapparatuses, such as scanning apparatus 300 of FIG. 3, scanningapparatus 400 of FIG. 4, or another scanning apparatus, can bestatically or dynamically deployed in a heterogeneous set of locationsand can be used to detect and locate micro-UAVs using some of thedisclosed techniques, described above. For instance, FIG. 7 shows ablock diagram of a simplified example of a system 700 for locating UAVs,in accordance with some implementations. In FIG. 7, a signal source 704,such as a micro-UAV, emits electromagnetic signals 708. Two or morereceiving modules 712, such as any of the scanning apparatuses describedabove, can be configured to receive signals 708 and transmit bearing andelevation data to a primary processing module 716 using the techniquesdescribed above. Primary processing module 716 can process the bearingand elevation data to determine a location of signal source 704 and passthe location to a transmission module 720. The transmission module 720can transmit the location to a variety of sites, as described above.

In some implementations, system 700 can be deployed near a sensitivebuilding, such as the White House, or a national monument, such as MountRushmore or the Eiffel Tower. By way of example, receiving modules can712 be placed in a perimeter around a sensitive building or monument.

Also or alternatively, system 700 can be deployed in a variety of otherlocations. For instance, system 700 may be deployed near a prison toprevent incursions of micro-UAVs, which could be used to remotelydeliver drugs of weapons into the prison. Similarly, system 700 can betemporarily deployed at events, such as the Super Bowl® or apresidential speech, using portable scanning apparatuses, as describedbelow. By way of illustration, one or more scanning apparatuses might beplaced near a building such as the White House. For example, a singleapparatus 400 of FIG. 4 might be placed on top of such a building todetect micro-UAVs, and determine a bearing and/or elevation of suchmicro-UAVs as they approach the building, as described above. If amicro-UAV is detected, the authorities can be alerted, the building canbe evacuated, and the micro-UAV can be shot down (or otherwiseeliminated) as it enters the vicinity of the building.

On the other hand, a configuration of two or more scanning apparatuses300 might be place near a building to detect an approaching micro-UAV,and determine accurate three-dimensional coordinates of the approachingmicro-UAV, using some of the techniques discussed above in the contextof 104-124 of FIG. 1A. In this case, the scanning apparatuses might bein communication with a system configured to automatically shoot down(or otherwise eliminate) the micro-UAV.

As mentioned above scanning apparatuses can be dynamically deployed. Forexample, scanning apparatus 400 of FIG. 4 can be mounted near the noseof a commercial aircraft, such as a Boeing® 747, an Airbus® A320, anEmbraer® ERJ 145, a Fokker® f100, an Irkut® MC-21, etc.

Because such an aircraft can be located high enough to scan radiosignals on the ground without being impeded by obstacles such asbuildings, mountains, hills, etc., a single aircraft mounted scanningapparatus can be used to locate ground-based micro-UAV operators. By wayof example, scanning apparatus 400 can be mounted on a Boeing®, which isapproaching an Airport. In this scenario, directional antenna 404 can beconfigured to receive 2.4 GHz signals—the standard uplink frequency of amicro-UAV. As such, using some of the techniques described above,scanning apparatus 400 can be used to determine the bearing andelevation of a micro-UAV operator on the ground relative to the 747.Since micro-UAV is being operated from the ground, bearing and elevationdata from a single scanning apparatus can be sufficient in and of itselfto locate the micro-UAV operator without a further signal fortriangulation. In other words, since the micro-UAV operator need only belocated in two dimensions since she is near to the ground, her bearingand elevation relative to the 747 is sufficient to determine herlocation. As such, the pilot of the 747 can disseminate the micro-UAVoperator's location to the authorities, so that she can be apprehended.

In some implementations, scanning apparatuses can be configured toreject known emissions. By way of example, if a known micro-UAV, orother radio frequency emission source such as a baby monitor, that posesno danger is in the vicinity of GDT 208, GDT 208 can determine, based ininformation in one or more of its storage media that any signal receivedfrom the location of the known micro-UAV should be ignored by GDT 208.As such, a processor of GDT 208 can cause GDT 208 to filter any radiosignal originating from the known micro-UAV.

In some implementations, scanning apparatuses, such as those describedabove, can be made portable. For example, as described above, a scanningapparatus may include a Global Positioning system (GPS). As such even ifthe scanning apparatus is moved to a new location, the new location ofthe scanning apparatus can be transmitted to a primary processor,without the need to manually alert the primary processor of the scanningapparatus' new location.

In some implementations, the velocity of a detected micro-UAV can bedetermined using a single scanning apparatus by analyzing the strengthof a signal originating from the micro-UAV as the micro-UAV approachesthe scanning apparatus. For example, the signal strength at a givenpoint of a radio signal originating from a source has an inverse-squaredrelationship with the radial distance between the source and the point.As such, a scanning apparatus can determine the radial velocity of amoving micro-UAV by analyzing the strength of the signal originatingfrom the micro-UAV over time. The angular components of the velocity ofthe micro-UAV can be determined by measuring the changes in bearing andelevation of the micro-UAV over time.

The disclosed techniques may be implemented in a variety of sensitivesecurity areas, such as the United States (US)-Mexico border, increasingsecurity by allowing for detection of incursions by UAVs that are toosmall to be detected using conventional techniques. UAVs may present aparticularly great threat at certain locations, such as the US-Mexicoborder, because UAVs may be capable of flying over existing physicalbarriers. By way of example, FIG. 8 shows a simplified diagram of asimplified example of a system 800 for locating UAVs, in accordance withsome implementations. System 800 is deployed at the US-Mexico border. InFIG. 8, border patrol vehicles 802 a and 802 b patrol the US-Mexicoborder. UAV 804 has made an unauthorized incursion across the US-Mexicoborder. The UAV 804 may present a number of security threats. By way ofexample, the UAV 804 may contain a camera and may be used by drug orhuman smugglers for scouting purposes. Also or alternatively, the UAV804 may be used to transport illegal or dangerous substances such asillegal drugs or explosives. Scanning apparatuses 808 a-c may be anytype of scanning apparatus configured to receive RF signals from UAVssuch as the scanning apparatuses 300 and 400 of FIGS. 3 and 4respectively.

Such scanning apparatuses may be arranged in a variety of manners. Byway of illustration in FIG. 8, the scanning apparatuses 808 a and 808 bare mounted on border patrol vehicles 802 a and 802 b, and the scanningapparatus 808 c is mounted on a stationary observation tower 810. Whilethe scanning apparatuses 808 a-c are depicted in a particulararrangement, one having skill in the art can appreciate that thescanning apparatuses 808 a-c may be arranged in a variety of manners. Byway of illustration, while the scanning apparatus 808 a is mounted onthe roof of border patrol vehicle 802 a, the scanning apparatus 808 amay be placed in any radio-transparent area of the border patrol vehicle802 a that allows the scanning apparatus 808 a to perform the UAVlocation and tracking functions disclosed herein. The scanningapparatuses 808 a-c may be configured to scan the airspace over aportion of the US-Mexico border region and receive downlink signals fromthe UAV 804, as described above. The scanning apparatuses 808 a-c maysend data to a computing device capable of processing the data, usingthe triangulation techniques described above, to locate the UAV 804. TheUS Border Patrol may use the location of the UAV 804 to track and/orneutralize the UAV 804.

Also or alternatively, the UAV 804 may be emitting video data from acamera for scouting purposes. As such, the downlink signal from the UAV804 received by the scanning apparatuses 808 a-c may include such videodata from the camera of the UAV 804. Such video data may be providedfrom the scanning apparatuses 808 a-c to a display device such thatagents of the US Border Patrol and/or any other relevant law enforcementagency may view video being captured by the camera of the UAV 804.

Similar to the scenarios described above, the operator of the UAV 804may be located using the disclosed techniques. By way of illustration,scanning apparatus 812 may be mounted on US Border Patrol helicopter816. The scanning apparatus 812 may be configured to receive uplinksignals from the device being used to operate the UAV 804. As such,using the above-described techniques, the source of the uplink signalcan be located and the location of the source of the uplink signal maybe provided to the relevant law enforcement authorities such as the USBorder Patrol and/or the Mexican Federal Police. The law enforcementauthorities may then travel to the location of the uplink signal andapprehend the operator of the UAV 804.

One having skill in the art can appreciate that the techniques describedabove in the context of FIG. 8 may be applicable to a range ofadditional scenarios. By way of illustration, drugs or other illicitsubstances are often smuggled into prisons via UAVs. As such, a prisonmay deploy a network of scanning apparatuses, e.g., in a manner similarFIGS. 2 and/or 8 to detect and locate UAVs in the vicinity of theprison. As described above, operators of such UAVs may be located andapprehended.

In another scenario, UAV incursions often hamper wildfire fightingefforts. Accordingly, firefighting aircraft and/or ground-basedfirefighting vehicles may be fitted with scanning apparatuses configuredto detect and locate UAVs and UAV operators using the above-describedtechniques. Therefore, UAVs that are hampering wildfire fighting effortsmay be quickly and effectively located, critically increasing theefficiency of firefighting efforts.

While various specific implementations have been particularly shown anddescribed, it will be understood by those skilled in the art thatchanges in the form and details of the disclosed implementations may bemade without departing from the spirit or scope of this disclosure. Inaddition, although various advantages, aspects, and objects have beendiscussed herein with reference to various implementations, it will beunderstood that the scope of this disclosure should not be limited byreference to such advantages, aspects, and objects.

What is claimed is:
 1. A method for detecting unmanned aerial vehicles(UAVs) in a sensitive security area, the method comprising: scanning,with a plurality of scanning apparatuses, a region of airspaceassociated with the sensitive security area, each scanning apparatuscomprising one or more directional Radio Frequency (RF) antennae, eachof the scanning apparatuses having different locations, at least one ofthe scanning apparatuses being connected with a moveable vehicle;receiving first radio frequency signals emitted by a first UAV at thescanning apparatuses, a frequency of the first radio frequency signalsbeing a downlink frequency of the first UAV, the first radio frequencysignals being downlink signals generated by the first UAV to communicatewith a first device controlling the first UAV, the scanning apparatusesbeing independent from generation of the first radio frequency signals;processing, based on an angular relationship between the locations ofthe scanning apparatuses and the first UAV, the first radio frequencysignals to determine a first location of the first UAV.
 2. The method ofclaim 1, further comprising: providing the first radio frequency signalsto a display device, the display device being configured to process thefirst radio frequency signals to cause display of video associated witha camera associated with the first UAV.
 3. The method of claim 1,further comprising: scanning, with an aircraft-mounted scanningapparatus, a region of ground space associated with the sensitivesecurity area, the aircraft-mounted scanning apparatus comprising one ormore further directional RF antennae; receiving, at the aircraft-mountedscanning apparatus, radio frequency signals corresponding to an uplinkfrequency of the first UAV; and processing, based on an angularrelationship between the location of the aircraft-mounted scanningapparatus and a source of the further radio frequency signals, thefurther radio frequency signals to determine a first location of thesource of the further radio frequency signals, the source of the furtherradio frequency signals being associated with an operator of the firstUAV.
 4. The method of claim 3, wherein the uplink frequency is in arange of 1850-1990 MHz or 824-894 MHz.
 5. The method of claim 1, whereinat least one of the scanning apparatuses is mounted on a stationaryobservation tower.
 6. The method of claim 4, wherein the sensitivesecurity area is a region including a portion of the US-Mexico border.7. The method of claim 1, wherein processing the first radio frequencysignals to determine the first location of the first UAV comprises:determining a signal strength associated with the first radio frequencysignals at each of the scanning apparatuses; generating, using thesignal strength, first data indicating an angular relationship betweenthe locations of the scanning apparatuses and the first UAV; processing,using the locations of the scanning apparatuses, the first data todetermine the first location of the first UAV.
 8. The method of claim 1,further comprising: determining a second location of the first UAV; anddetermining, using the first and second location of the first UAV, avelocity of the first UAV.
 9. The method of claim 1, wherein the firstUAV has a weight of 10 pounds or less.
 10. A system for detectingunmanned aerial vehicles (UAVs) in a sensitive security area, the systemcomprising: a plurality of scanning apparatuses, each scanning apparatuscomprising an array of one or more directional antennae configured toreceive radio frequency signals having a designated frequency, the arrayof directional antennae having a spatial configuration, at least one ofthe scanning apparatus being connected with a moveable vehicle, eachscanning apparatus being configured to: receive radio frequency signalsassociated with one or more UAVs, a frequency of each radio frequencysignal being a downlink frequency of a corresponding UAV; determine asignal strength associated with each of the radio frequency signals; andgenerate, using the signal strength and the spatial configuration, dataindicating an angular relationship between a location one of theplurality of scanning apparatuses and the corresponding UAV; one or moreprocessors in communication with each of the scanning apparatuses, theone or more processors operable to: receive data from at least two ofthe plurality of scanning apparatuses; process, using locations of theat least two ground data terminals, the data from the at least twoscanning apparatuses to determine a location of a first UAV; track boththe UAV and the second UAV.
 11. The system of claim 10, the one or moreprocessors being further operable to: provide the first radio frequencysignals to a display device, the display device being configured toprocess the first radio frequency signals to cause display of videoassociated with a camera associated with the first UAV.
 12. The systemof claim 10, the system further comprising: an aircraft-mounted scanningapparatus comprising one or more further directional Radio Frequency(RF) antennae, the aircraft mounted scanning apparatus being configuredto: scan a region of ground space associated with the sensitive securityarea, and receive radio frequency signals corresponding to an uplinkfrequency of the first UAV; and the one or more processors being furtheroperable to: process, based on an angular relationship between thelocation of the aircraft-mounted scanning apparatus and a source of thefurther radio frequency signals, the further radio frequency signals todetermine a first location of the source of the further radio frequencysignals, the source of the radio frequency signals being associated withan operator of the first UAV.
 13. The system of claim 10, wherein atleast one of the scanning apparatuses is mounted on a stationaryobservation tower.
 14. The system of claim 13, wherein the sensitivesecurity area is a region including a portion of the US-Mexico border.15. A computer program product comprising computer-readable program codeto be executed by one or more processors when retrieved from anon-transitory computer-readable medium, the program code includinginstructions configured to cause: scanning, with a plurality of scanningapparatuses, a region of airspace associated with a sensitive securityarea each scanning apparatus comprising one or more directional RadioFrequency (RF) antennae, each of the scanning apparatuses havingdifferent locations, at least one of the scanning apparatuses beingconnected with a moveable vehicle; processing first radio frequencysignals emitted by a first UAV at the scanning apparatuses, a frequencyof the first radio frequency signals being a downlink frequency of thefirst UAV; processing, based on an angular relationship between thelocations of the scanning apparatuses and the first UAV, the first radiofrequency signals to determine a first location of the first UAV. 16.The computer program product of claim 15, the program code includingfurther instructions configured to cause: providing the first radiofrequency signals to a display device, the display device beingconfigured to process the first radio frequency signals to cause displayof video associated with a camera associated with the first UAV.
 17. Thecomputer program product of claim 15, the program code including furtherinstructions configured to cause: scanning, with an aircraft-mountedscanning apparatus, a region of ground space associated with thesensitive security area, the aircraft-mounted scanning apparatuscomprising one or more further directional Radio Frequency (RF)antennae; processing, at the aircraft-mounted scanning apparatus, radiofrequency signals corresponding to an uplink frequency of the first UAV;and processing, based on an angular relationship between the location ofthe aircraft-mounted scanning apparatus and a source of the furtherradio frequency signals, the further radio frequency signals todetermine a first location of the source of the further radio frequencysignals, the source of the further radio frequency signals beingassociated with an operator of the first UAV.
 18. The computer programproduct of claim 17, wherein the uplink frequency is in a range of1850-1990 MHz or 824-894 MHz.
 19. The computer program product of claim15, wherein at least one of the scanning apparatuses is mounted on astationary observation tower.
 20. The computer program product of claim15, wherein the sensitive security area is a region including a portionof the US-Mexico border.